1. EE 396/496 Scout ROV by Chris McLeod & Autonomous Systems Lab

2. Project Outline Phase I – Summer 2005 Design, build, and demonstrate a prototype for a very small Remotely Operated Underwater Vehicle. Phase II – Fall 2005 Design and test user interface system for vehicle. Phase III – Spring 2006 Evaluate and solve prototype design problems and build a comprehensive underwater ROV system.

3. Background & Motivation S.A.U.V.I.M. Semi - Autonomous Underwater Vehicle for Intervention Missions

4. Objective of the Scout ROV system Easy deployment Access small enclosures Low cost Assist SAUVIM in connecting to underwater communication and data stations. Self inspection of vehicle Several can be used to simultaneously Assist in inspection arm manipulation

5. Phase I: Flow Chart CAMERA ATTITUDE THRUSTERS LAPTOP COMPUTER MICROPROCESSOR

6. Phase I: The Prototype Off-the-shelf components Housing Thrusters Camera Somebody’s laptop

7. Phase I: Mobility in the x-y plane

8. Phase I: DC Motors The H-bridge and the L298N 2 independent bi-directional DC motors Independent 5V supply for motors as well as for logic

9. Phase I: Mobility in the z plane

10. Phase I: Counterbalance & Housing The frame is designed to slide perfectly into housing Initial construction Counterbalance controlled by a 12V stepper motor

11. Phase I: Microprocessor Rabbit 2300 microprocessor –Receive commands from user (from computer) –Programmed to control DC & Step motor drivers –Uses Dynamic C language in a simple IDE –Requires 5V supply

12. Phase I: Stepper Motor Driver Stepper motor driver –1.8 o step angle –Current adjustable –Independent 12V supply & 5V for logic

13. Phase I: Completed (9/9/05)

14. Phase II: User Interface CAMERA ATTITUDE THRUSTERS LAPTOP COMPUTER MICROPROCESSOR JOYSTICK

15. Phase II: Development (4/3/06) Cross-platform GUI DevC++ by Bloodshed wxWidgets OpenCV by Intel

16. Phase III: Flow Chart FEEDBACK - Temperature - Compass - Depth - Battery Power - Integrity - Attitude - Pitch CAMERA ATTITUDE THRUSTERS LAPTOP COMPUTER MICROPROCESSOR JOYSTICK

17. Thank you. For more information http://www2.hawaii.edu/~cmcleod/other.htm Any questions?